Clean up FK / Lula / robot copy / collision check code

[cgokmen]

Things that need to be fixed:

• Make the descriptors get automatically generated, put on a tempfile in the OG tempdir (og.tempdir)
• Remove the descriptor file field on all robots
• Make FK return all link poses rather than just those in the list
• Remove the manipulation_link_names field

Let's do this on og-develop after action-primitives is merged